Wool shearing robot

Abstract

The invention discloses a wool shearing robot which comprises a station switching platform, a four-limb fixing and overturning device, an I-shaped steel walking device, an automatic wool shearing mechanical arm module and a four-limb capturing and lifting device. The circumference of the station switching platform is equally divided into four stations, station switching is achieved through driving of an internal motor, and four-limb fixing and overturning devices are arranged on the four stations. The I-shaped steel walking device is arranged above the station switching platform and used for walking of the automatic shearing mechanical arm module and the four-limb capturing and lifting device. The automatic shearing mechanical arm module and the four-limb capturing and lifting device are arranged on the I-shaped steel walking device; the automatic wool shearing mechanical arm module is used for executing wool shearing operation; and the four-limb capturing and lifting device is used for capturing four limbs of the sheep and lifting the four limbs of the sheep to fixed positions. According to the automatic sheep shearing machine, automatic sheep positioning, fixing, posture adjusting and shearing operation can be achieved, the shearing efficiency can be improved, the shearing quality is guaranteed, and the labor intensity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural processing, in particular to a sheep shearing robot. Background Art

[0002] Sheep shearing is a critical step in livestock production, and its efficiency and quality directly impact the commercial value of wool and subsequent processing. Traditional shearing relies primarily on manual labor, requiring shearers to shave each sheep individually with handheld shaving tools. This is not only labor-intensive and inefficient, but also presents the following challenges: 1. The training cycle for skilled shearers is long, and large-scale farming operations require significant manpower. Especially during peak shearing season, labor costs rise significantly, hindering the economic benefits of farming. 2. Sheep can struggle due to stress during shearing, potentially causing kicks and scratches to workers, while also increasing the risk of injury to the sheep. To address these issues, the industry is gradually exploring mechanized shearing equipment, but existing equipment often suffers from limitations such as limited functionality and low automation. For example, some semi-automatic shearing machines only mechanize the shearing action, still requiring manual work to secure the sheep and adjust their position. Some equipment lacks adaptability and cannot accommodate the shearing needs of different breeds and sizes of sheep. Furthermore, some equipment is complex and cumbersome to operate, making it difficult to implement in real-world ranching scenarios. Summary of the Invention

[0003] The present invention aims to provide a sheep shearing robot that can automatically position, fix, adjust the posture of sheep, and perform shearing operations, thereby improving shearing efficiency, ensuring shearing quality, and reducing labor intensity.

[0004] The technical solution of the present invention is as follows: A sheep shearing robot includes a workstation switching platform, a limb fixing and flipping device, an I-beam walking device, an automatic sheep shearing robotic arm module, and a limb capturing and lifting device; the workstation switching platform is divided into four equal circumferences, and an internal motor drives the workstation to switch counterclockwise, and the limb fixing and flipping devices are all provided on the four workstations; the I-beam walking device is arranged above the workstation switching platform, and is used for the movement of the automatic sheep shearing robotic arm module and the limb capturing and lifting device; the automatic sheep shearing robotic arm module and the limb capturing and lifting device are arranged on the I-beam walking device; the automatic sheep shearing robotic arm module is used to perform wool shearing operations; the limb capturing and lifting device is used to capture the limbs of sheep and lift them to fixed positions.

[0005] The above-mentioned sheep shearing robot, the workstation switching platform includes a workstation switching base plate, an I-beam column, an I-beam beam, a circular workstation and a workstation switching device; four I-beam columns are arranged around the workstation switching base plate, and an I-beam beam is arranged on the I-beam columns; the I-beam walking device is arranged on the I-beam beam; the workstation switching device is arranged in the center of the workstation switching base plate, and a circular workstation is arranged above the workstation switching device.

[0006] The aforementioned sheep shearing robot, the circular workstation includes a bearing base plate, a fixed plate, a movable plate, a first linear rail, a linear slider fixed plate, an electric push rod movable bracket, an electric push rod and an electric push rod fixed bracket; fixed plates are respectively provided on both sides of the bearing base plate, and the first linear rails are provided on the other two sides of the bearing base plate, and the movable plate is moved and arranged on the first linear rails via the linear slider fixed plate; an electric push rod movable bracket is provided at the bottom of the movable plate; the electric push rod is fixed to the bearing base plate via the electric push rod fixed bracket and the other end is connected to the electric push rod movable bracket.

[0007] The aforementioned sheep shearing robot, the workstation switching device includes a first servo motor, a motor seat, a pinion, a flange center plate, a slewing support bearing, a base flange and a reducer; the first servo motor is connected to the workstation switching base plate through the motor seat; the pinion is arranged above the reducer and is powered by the first servo motor; the pinion is engaged with the slewing support bearing arranged on the base flange, and a flange center plate is provided above the base flange, and the flange center plate is fixed to the load-bearing base plate.

[0008] The aforementioned sheep shearing robot, the limb fixing and turning device includes a base plate, a foot cover fixing device, a limb turning device, a lifting and turning device and a movable fence; the movable fence is fixed on the base plate, the limb turning device is arranged outside the movable fence, and four foot cover fixing devices are symmetrically installed on the limb turning device; a lifting and turning device is arranged on the base plate at the center of the movable fence; the two ends of the movable fence are connected by loose-leaf hinges.

[0009] The limb flipping devices are symmetrically provided with two, one of which is fixed, and the other is movably provided by a first ball screw module; the limb flipping device includes a column, a synchronous pulley, a driving shaft, a synchronous belt limit block, a synchronous belt, a driven shaft, a foot cover fixing device base plate, a large bevel gear, a small bevel gear and a second servo motor; the middle and top parts of the column are respectively provided with a driving shaft and a driven shaft, the second servo motor is fixed on the column, the second servo motor is connected to the small bevel gear, the small bevel gear and the large bevel gear on the driving shaft constitute a bevel gear set, the other end of the driving shaft is connected to the synchronous pulley, the synchronous pulley drives the driven shaft through the synchronous belt, and the other end of the driven shaft is fixed to the foot cover fixing device base plate; the foot cover fixing device is provided on both sides of the foot cover fixing device base plate; The lifting and turning device includes a fixed base plate, a bottom fixed shaft, an inner rod of the scissors fork, a thrust bearing, a flip support plate, a bearing seat, a driven roller, a flip belt, a worm gear reduction motor, a motor bracket plate, an active roller, a bottom movable shaft, a trapezoidal screw, a connecting rod, an outer rod of the scissors fork, a planetary reducer and a third servo motor; a bottom fixed shaft and a bottom movable shaft are arranged on the fixed base plate, two ends of the bottom fixed shaft are connected to the inner rod of the scissors fork, two ends of the bottom movable shaft are connected to the outer rod of the scissors fork, and the other end of the inner rod of the scissors fork and the outer rod of the scissors fork are connected by a thrust bearing, and the middle part is connected by a connecting rod; a third servo motor is arranged on the side of the fixed base plate, and the third servo motor is fixed to the trapezoidal screw through the planetary reducer, and the trapezoidal screw is matched with the center threaded hole of the bottom movable shaft through the center through hole of the bottom fixed shaft; the flip support plate carries the driven roller and the active roller through the bearing seat, and the driven roller and the active roller are matched by the flip belt; the worm gear reduction motor is fixed to the side of the flip support plate by the motor bracket plate and connected to the active roller.

[0010] The aforementioned sheep shearing robot has multiple I-beam walking devices, which are located on the I-beam beams on both sides respectively; the I-beam walking device includes a walking frame, a nut, a channel steel wheel, a double-bearing flange, a gear shaft, a gear, a coupling, a planetary reducer and a walking motor; the upper half of both sides of the walking frame are each equipped with 4 channel steel wheels with their own bearings through nuts, and the channel steel wheels are matched with the I-beam beam; one side of the lower half of the walking frame is equipped with a double-bearing flange, and the other side is equipped with a servo motor with a planetary reducer; the gear is installed on the gear shaft through a key and a keyway, one end of the gear shaft is fixed to the double-bearing flange, and the other end is connected to the planetary reducer through a coupling; a long rack and a short rack are respectively installed at the bottom of the I-beam beams on both sides; the gear in the I-beam walking device is meshed with the long rack or short rack on the corresponding side.

[0011] The aforementioned sheep shearing robot, the automatic sheep shearing robotic arm module includes a walking beam, a rack, a screw module fixing seat, a second ball screw module, a six-axis collaborative robotic arm and a shaving machine; the two ends of the walking beam are each installed on an I-beam walking device, the bottom end of the walking beam is installed with a rack, and an I-beam walking device that cooperates with the rack is provided on the walking beam. The side of the I-beam walking device is fixed with the second ball screw module fixing seat, and a six-axis collaborative robotic arm is arranged on the platform of the second ball screw module, and a shaving machine is installed at the end of the six-axis collaborative robotic arm.

[0012] The aforementioned sheep shearing robot, the limb capture and lifting device includes a servo electric push rod, a gripper swing base, a second linear track, a linear rack, a rotary pitch change base plate, a gripper plate, a foot cover fixing device and a drive motor; the servo electric push rod is fixed on the inclined surface of the gripper swing base, the rotary pitch change base plate is connected to the gripper swing base through a rotating shaft, and is driven by the servo electric push rod to adjust the angle of the rotary pitch change base plate; the rotary pitch change base plate is provided with two gripper plates, the ends of the gripper plates are provided with foot cover fixing devices, and a protective cover is provided under the foot cover fixing device; a linear rack is fixed on the back of the gripper plate, and a drive motor is provided on the back of the rotary pitch change base plate, the output end of the drive motor is connected to a drive gear, and the drive gear is meshed with the linear racks on the back of the two gripper plates; the back of the gripper plate is also slidably set on the second linear track through a slider; the gripper swing base is connected to the I-beam walking device via a switching mechanism.

[0013] In the aforementioned sheep shearing robot, the foot cover fixing device includes a cylinder base plate, a first cylinder, a cylinder push plate, a foot cover connecting rod, a first foot cover, a fixed shaft and a second foot cover; the first cylinder and the fixed shaft are connected to the cylinder base plate, and the piston end face of the first cylinder is connected to the cylinder push plate; the first foot cover and the second foot cover simultaneously use the fixed shaft as a rotation axis, and the first foot cover, the second foot cover and the cylinder push plate are respectively connected by two foot cover connecting rods.

[0014] The aforementioned sheep shearing robot, the switching mechanism includes a first box body arranged at the lower end of the I-beam walking device, the interior of the first box body is rotatably connected to the second box body via a first synchronous belt module, and the interior of the second box body is rotatably connected to the gripper swing base via a second synchronous belt module.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the automation of the entire process of sheep shearing by providing a workstation switching platform, a limb fixing and flipping device, an I-beam walking device, an automatic sheep shearing robot arm module, and a limb capturing and lifting device. From the sheep entering the workstation, limb fixing, shearing operation to manual secondary repair and sheep release, no manual intervention is required in the core process, which greatly reduces the intensity of manual labor and significantly improves the shearing efficiency, which can effectively adapt to the breeding needs of large-scale ranches. In addition, the circular workstation of the present invention drives the movable plate to move on the linear track by an electric push rod, which can make the two movable workstations retract when needed, and then adapt to the size of the transport compartment, saving the space occupied by the equipment and enhancing the mobility and deployment flexibility of the equipment in complex sites such as ranches.

[0016] 2. The workstation switching platform of the present invention adopts a design of four workstations with equal circumference, which is driven by a motor to realize counterclockwise rotation switching. Combined with the reasonable layout of fixed workstations and movable workstations, the sheep can complete the loading, shearing, repair and unloading processes in different workstations in turn, forming a continuous operation line, reducing the waiting time for process connection, and further improving the overall operation efficiency.

[0017] 3. The limb fixing and flipping device of the present invention, through the coordination of the foot cover fixing device, the limb flipping device, and the lifting and flipping device, can not only reliably fix the sheep's limbs to prevent them from struggling, but also adjust the sheep's posture through the flipping action, ensuring that the automatic wool shearing robot arm module can trim the wool from all parts of the sheep's body, avoiding missed shearing, ensuring the consistency of shearing quality, and reducing the risk of injury to sheep and operators. The limb flipping device of the present invention has columns that can be set on the mobile platform of the ball screw module. By adjusting the spacing between the columns, it can adapt to sheep of different body sizes, enhancing the adaptability of the equipment to sheep of different breeds and different growth stages, and solving the problem of the narrow adaptability range of existing equipment.

[0018] 4. The automatic wool shearing robot module of the present invention relies on the I-beam walking device to achieve stable movement. Combined with the six-axis collaborative robot arm and the ball screw module, it has the ability to move with multiple degrees of freedom, can flexibly adjust the position and angle of the shearing machine, and can accurately fit the body curve of the sheep for shearing, thereby improving the fineness and uniformity of shearing, and helping to increase the commercial value of wool.

[0019] 5. The limb capture and lifting device of the present invention can realize the rotation, opening and closing of the gripper through the multi-dimensional transmission design of the servo electric push rod, gear rack mechanism and switching base, and can efficiently complete the capture and lifting and fixing of the sheep's limbs. It has a high degree of automation, reduces the operation of manual auxiliary fixation, and further optimizes the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the sheep shearing robot; Figure 2 This is a schematic diagram of the layout of the four workstations on the workstation switching platform; Figure 3 It is a partial structural diagram of the workstation switching platform; Figure 4 It is a structural diagram of a circular workstation; Figure 5 It is a structural diagram of the station switching device; Figure 6 It is a schematic diagram of the overall structure of the limb fixation and flipping device; Figure 7 It is a structural diagram of a foot cover fixing device; Figure 8 It is a structural diagram of the limb flipping device; Figure 9 It is a structural diagram of the lifting and turning device; Figure 10 It is a structural diagram of the I-beam walking device; Figure 11 This is a structural diagram of the automatic sheep shearing robot arm module; Figure 12 It is a schematic diagram of the structure of the limb capture and lifting device.

[0021] Reference numerals: 1. Workstation switching platform; 2. Limb fixing and turning device; 3. I-beam walking device; 4. Automatic sheep shearing robot arm module; 5. Limb capture and lifting device; 11. Workstation switching base plate; 12. I-beam column; 13. I-beam crossbeam; 14. Long rack; 15. Short rack; 16. Circular workstation; 17. Workstation switching device; 161. Load-bearing base plate; 162. Fixed plate; 163. Moving plate; 164. First linear track; 165. Linear slider fixed plate; 166. Electric push rod moving bracket; 167. Electric push rod; 168. Electric push rod fixed bracket; 171. First servo motor; 172. Motor base; 173. Small Gear; 174, flange center plate; 175, slewing bearing; 176, base flange; 177, reducer; 21, bottom plate; 22, foot cover fixing device; 23, limb turning device; 24, lifting and turning device; 25, movable fence; 221, cylinder bottom plate; 222, first cylinder; 223, cylinder push plate; 224, foot cover connecting rod; 225, first foot cover; 226, fixed shaft; 227, second foot cover; 231, column; 232, synchronous pulley; 233, driving shaft; 234, synchronous belt limit block; 235, synchronous belt; 236, driven shaft; 237, foot cover fixing device base plate; 238, large bevel gear; 23 9. Small bevel gear; 2310. Second servo motor; 2311. First ball screw module; 241. Fixed base plate; 242. Bottom fixed shaft; 243. Scissor inner rod; 244. Thrust bearing; 245. Flip support plate; 246. Bearing seat; 247. Driven roller; 248. Flip belt; 249. Worm gear reduction motor; 2410. Motor support plate; 2411. Active roller; 2412. Bottom moving shaft; 2413. Trapezoidal screw; 2414. Connecting rod; 2415. Scissor outer rod; 2416. Planetary reducer; 2417. Third servo motor; 31. Travel frame; 32. Nut; 33. Channel steel Wheel; 34. Double-bearing flange; 35. Gear shaft; 36. Gear; 37. Coupling; 38. Planetary reducer; 39. Travel motor; 42. Travel beam; 43. Rack; 44. Screw module fixing seat; 45. Second ball screw module; 46. Six-axis collaborative robot arm; 47. Shaving machine; 51. Servo electric push rod; 52. Gripper swing base; 53. Second linear rail; 54. Linear rack; 55. Rotary pitch change base plate; 56. Gripper plate; 57. Protective cover; 58. Drive motor; 59. Drive gear; 510. First box body; 512. First synchronous belt module; 513. Second box body; 514. Second synchronous belt module. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and examples, but they are not intended to limit the present invention.

[0023] Example: A sheep shearing robot, such as Figure 1 As shown, it consists of a workstation switching platform 1, a limb fixation and flipping device 2, an I-beam running device 3, an automatic sheep shearing robot arm module 4, and a limb capture and lifting device 5. The connections and functions of each device are as follows: The workstation switching platform 1 is divided into four equal workstations. An internal motor drives the workstations counterclockwise. Each of the four workstations is equipped with a limb fixation and flipping device 2, which is primarily used to carry sheep and complete the flow of different operation stages. The I-beam running device 3 is installed above the workstation switching platform 1, providing a running track for the automatic sheep shearing robot arm module 4 and the limb capture and lifting device 5 to move between different workstations and positions. The automatic sheep shearing robot arm module 4 is mounted on the I-beam running device 3 and is responsible for performing the wool shearing operation. The limb capture and lifting device 5 is also mounted on the I-beam running device 3. Its function is to capture the sheep's limbs and lift them to a fixed position, cooperating with the limb fixation and flipping device 2 to secure the sheep.

[0024] Preferably, if Figure 2-3 As shown, the work station switching platform 1 includes a work station switching base plate 11, an I-beam column 12, an I-beam beam 13, a circular work station 16 and a work station switching device 17. The specific structure is as follows: In terms of the basic frame, four I-beam columns 12 are provided around the work station switching base plate 11, and the top of the I-beam column 12 is connected to the I-beam beam 13 to form a stable supporting structure; the I-beam walking device 3 is installed on the I-beam beam 13 and can move along the beam.

[0025] like Figure 4 As shown, the circular workstation 16 is arranged above the workstation switching device 17 and is used to directly support sheep. Its structure includes a supporting base plate 161, a fixed plate 162, a movable plate 163, a first linear rail 164, a linear slider fixed plate 165, an electric push rod movable bracket 166, an electric push rod 167 and an electric push rod fixed bracket 168. Fixed plates 162 are respectively provided on both sides of the supporting base plate 161, and first linear rails 164 are provided on the other two sides of the supporting base plate 161. The movable plate 163 is movable and arranged on the first linear rails 164 via the linear slider fixed plate 165; the electric push rod movable bracket 166 is provided at the bottom of the movable plate 163; the electric push rod 167 is fixed to the supporting base plate 161 via the electric push rod fixed bracket 168 and the other end is connected to the electric push rod movable bracket 166. During operation, the electric push rod 167 is fixed to the supporting base plate 161 through the electric push rod fixing bracket 168, and its output end is connected to the electric push rod moving bracket 166, which can drive the moving plate 163 to slide along the first linear track 164 (guided by the linear slider fixing plate 165), and cooperate with the fixed plates 162 on both sides to adjust the work station width to adapt to sheep of different sizes.

[0026] like Figure 5As shown, the workstation switching device 17 is located at the center of the workstation switching base plate 11 and is used to drive the circular workstations 16 to rotate. It consists of a first servo motor 171, a motor base 172, a pinion 173, a flange center plate 174, a slewing bearing 175, a base flange 176, and a reducer 177. The first servo motor 171 is connected to the workstation switching base plate 11 via the motor base 172; the pinion 173 is located above the reducer 177 and is powered by the first servo motor 171; the pinion 173 engages with the slewing bearing 175 located on the base flange 176. A flange center plate 174 is located above the base flange 176 and is fixed to the support base 161. During operation, the first servo motor 171 is fixed by the motor base 172 and drives the pinion 173 to rotate through the reducer 177. The pinion 173 engages with the slewing bearing 175 on the base flange 176, driving the flange center plate 174 and the circular workstation 16 above to rotate counterclockwise, thereby realizing the sequential switching of the four workstations.

[0027] Preferably, if Figure 6 As shown, the limb fixing and turning device 2 is used to fix the limbs of the sheep and adjust its posture, including a base plate 21, a foot cover fixing device 22, a limb turning device 23, a lifting and turning device 24 and a movable fence 25. The specific structure is as follows: On the basic structure, a movable fence 25 is fixed on the base plate 21, and the two ends of the fence are connected by a movable hinge, which can be opened and closed to facilitate the entry and exit of the sheep; two limb turning devices 23 are symmetrically arranged on the outside of the movable fence 25, and a total of four foot cover fixing devices 22 (corresponding to the limbs of the sheep) are installed on it; a lifting and turning device 24 is set in the center of the base plate 21 for lifting and turning the sheep's body.

[0028] In the limb turning device 23, one is fixed and the other is movable via the ball screw module 2311 (adjusting the spacing to suit different sheep). Figure 8As shown, its structure includes a column 231, a synchronous pulley 232, a driving shaft 233, a synchronous belt limit block 234, a synchronous belt 235, a driven shaft 236, a foot cover fixing device base plate 237, a large bevel gear 238, a small bevel gear 239, and a second servo motor 2310. The driving shaft 233 and the driven shaft 236 are respectively provided at the middle and top of the column 231. The second servo motor 2310 is fixed to the column 231. The second servo motor 2310 is connected to the small bevel gear 239. The small bevel gear 239 and the large bevel gear 238 on the driving shaft 233 form a bevel gear set. The other end of the driving shaft 233 is connected to the synchronous pulley 232, which drives the driven shaft 236 through the synchronous belt 235. The other end of the driven shaft 236 is fixed to the foot cover fixing device base plate 237. The foot cover fixing device 22 is provided on both sides of the foot cover fixing device base plate 237. During operation, the second servo motor 2310 drives the small bevel gear 239 to rotate, meshing with the large bevel gear 238 on the driving shaft 233, driving the driving shaft 233 and the synchronous pulley 232 at the end to rotate. The synchronous pulley 232 drives the driven shaft 236 to rotate through the synchronous belt 235 (guided by the synchronous belt limit block 234), and finally flips the foot cover fixing device base plate 237 and the foot cover fixing device 22 above it, lifting the sheep's limbs to a fixed angle.

[0029] like Figure 9As shown, the lifting and turning device 24 is used to lift the sheep and adjust the body direction, and consists of a fixed base plate 241, a bottom fixed shaft 242, a scissors inner rod 243, a thrust bearing 244, a turning support plate 245, a bearing seat 246, a driven roller 247, a turning belt 248, a worm gear reduction motor 249, a motor support plate 2410, an active roller 2411, a bottom moving shaft 2412, a trapezoidal lead screw 2413, a connecting rod 2414, a scissors outer rod 2415, a planetary reducer 2416 and a third servo motor 2417. The bottom fixed shaft 242 and the bottom movable shaft 2412 are provided on the fixed base plate 241, the two ends of the bottom fixed shaft 242 are connected to the scissor fork inner rod 243, the two ends of the bottom movable shaft 2412 are connected to the scissor fork outer rod 2415, the other ends of the scissor fork inner rod 243 and the scissor fork outer rod 2415 are connected through a thrust bearing 244, and the middle parts are connected by a connecting rod 2414; a third servo motor 2417 is provided on the side of the fixed base plate 241, and the third servo motor 2417 is connected to the ladder through a planetary reducer 2416. The trapezoidal lead screw 2413 is fixed, and the trapezoidal lead screw 2413 cooperates with the central threaded hole of the bottom movable shaft 2412 through the central through hole of the bottom fixed shaft 242; the flip support plate 245 carries the driven roller 247 and the active roller 2411 through the bearing seat 246, and the driven roller 247 and the active roller 2411 are matched by the flip belt 248; the worm gear reduction motor 249 is fixed to the side of the flip support plate 245 by the motor bracket plate 2410 and is connected to the active roller 2411. Lifting process: The third servo motor 2417 drives the trapezoidal screw 2413 via the planetary reducer 2416. The trapezoidal screw 2413 passes through the through-hole of the bottom fixed shaft 242 and engages with the threaded hole of the bottom movable shaft 2412, pushing the bottom movable shaft 2412 to slide, causing the scissor inner rod 243 and the scissor outer rod 2415 (connected in the middle by a connecting rod 2414) to expand or contract. This in turn drives the flip support plate 245 up and down via the thrust bearing 244. Flipping process: The worm gear reduction motor 249 is fixed to the side of the flip support plate 245 via the motor bracket plate 2410. It drives the active roller 2411 to rotate. The active roller 2411 drives the driven roller 247 (supported by the bearing seat 246) to rotate via the flip belt 248, causing the sheep to flip on the flip belt 248, facilitating trimming of different parts of the sheep, such as the abdomen and back.

[0030] Preferably, if Figure 10As shown, the I-beam walking device 3 is used to drive the automatic sheep shearing robot arm module 4 and the limb capture and lifting device 5 to move. It is provided with multiple (respectively installed on the I-beam crossbeam 13 on both sides), and the structure includes a walking frame 31, a nut 32, a channel steel wheel 33, a double bearing flange 34, a gear shaft 35, a gear 36, a coupling 37, a planetary reducer 38 and a walking motor 39. The upper half of both sides of the walking frame 31 are each equipped with four channel steel wheels 33 with bearings through nuts 32, and the channel steel wheels 33 cooperate with the I-beam crossbeam 13; one side of the lower half of the walking frame 31 is equipped with a double-bearing flange 34, and the other side is equipped with a walking motor 39 with a planetary reducer; the gear 36 is installed on the gear shaft 35 through a key and a keyway, one end of the gear shaft 35 is fixed to the double-bearing flange 34, and the other end is connected to the planetary reducer through a coupling 37; the bottom of the I-beam crossbeam 13 on both sides is respectively equipped with a long rack 14 and a short rack 15; the gear 36 in the I-beam walking device 3 is meshed with the long rack 14 or short rack 15 on the corresponding side. During operation, the walking frame 31 cooperates with the I-beam 13 through the eight channel steel wheels 33 (with their own bearings and fixed by nuts 32) in the upper part to ensure the stability of movement; the walking motor 39 drives the gear shaft 35 to rotate through the planetary reducer 38 and the coupling 37, and the gear 36 on the gear shaft 35 (supported by the double bearing flange 34) engages with the long rack 14 or short rack 15 at the bottom of the I-beam 13, driving the entire device to move along the beam.

[0031] Preferably, if Figure 11 As shown, the automatic sheep shearing robot arm module 4 is used to perform the shearing operation, including a traveling beam 42, a rack 43, a screw module fixing seat 44, a second ball screw module 45, a six-axis collaborative robot arm 46, and a shaving machine 47. The two ends of the traveling beam 42 are each mounted on an I-beam traveling device 3. The bottom end of the traveling beam 42 is mounted with a rack 43. The traveling beam 42 is provided with an I-beam traveling device 3 that cooperates with the rack 43. The side of the I-beam traveling device 3 is fixed with a second ball screw module 45 via a screw module fixing seat 44. A six-axis collaborative robot arm 46 is set on the platform of the second ball screw module 45, and a shaving machine 47 is installed at the end of the six-axis collaborative robot arm 46. During operation, both ends of the walking beam 42 move along the I-beam 13 through the I-beam walking device 3; the rack 43 at the bottom end of the beam cooperates with the I-beam walking device on the beam to drive the second ball screw module 45 (connected through the screw module fixing seat 44) to move horizontally; the second ball screw module 45 adjusts the height of the six-axis collaborative robotic arm 46, and the six-axis robotic arm flexibly adjusts the position and angle of the shearing machine 47 at the end through multiple degrees of freedom to complete shearing in accordance with the body curve of the sheep.

[0032] Preferably, if Figure 12As shown, the limb capture and lifting device 5 is used to automatically capture the limbs of sheep and lift them to a fixed position, including a servo electric push rod 51, a gripper swing base 52, a second linear track 53, a linear rack 54, a rotary pitch change base plate 55, a gripper plate 56, a foot cover fixing device 22, a drive motor 58 and a switching mechanism. The servo electric push rod 51 is fixed on the inclined surface of the gripper swing base 52, and the rotary pitch change base plate 55 is connected to the gripper swing base 52 through a rotating shaft, and is driven by the servo electric push rod 51 to adjust the angle of the rotary pitch change base plate 55; the rotary pitch change base plate 55 is provided with two gripper plates 56, and the ends of the gripper plates 56 are provided with foot sleeve fixing devices 22, and a protective cover 57 is provided under the foot sleeve fixing device 22; a linear rack 54 is fixed to the back of the gripper plate 56, and a drive motor 58 is provided on the back of the rotary pitch change base plate 55, and the output end of the drive motor 58 is connected to a drive gear 59, which meshes with the linear racks 54 on the back of the two gripper plates 56; the back of the gripper plate 56 is also slidably set on the second linear rail 53 through a slider; the gripper swing base 52 is connected to the I-beam walking device 3 via a switching mechanism. The switching mechanism includes a first housing 510 disposed at the lower end of the I-beam travel device 3. The interior of the first housing 510 is rotatably connected to a second housing 513 via a first synchronous belt module 512. The interior of the second housing 513 is rotatably connected to the gripper swing base 52 via a second synchronous belt module 514. During operation: For angle adjustment, the servo electric push rod 51 drives the rotary pitch-changing base 55 to rotate about the axis of the gripper swing base 52 to adjust the gripper angle. The switching mechanism (comprising the first housing 510, the first synchronous belt module 512, the second housing 513, and the second synchronous belt module 514) enables multi-directional rotation of the gripper swing base 52 to adapt to the position of the sheep's limbs. During the grabbing action, the drive motor 58 drives the drive gear 59 to rotate, and the gear 36 engages with the linear rack 54 on the back of the two grab plates 56, so that the grab plates 56 open and close along the second linear track 53 (guided by the slider); the foot cover fixing device 22 (structure is the same as before) at the end of the grab plate 56 is closed to complete the capture of the limbs, and the protective cover 57 prevents damage to the sheep during operation.

[0033] Preferably, if Figure 7As shown, the foot-cuff fixing device 22 is used to clamp the sheep's limbs and includes a cylinder base plate 221, a first cylinder 222, a cylinder push plate 223, a foot-cuff connecting rod 224, a first foot-cuff 225, a fixed shaft 226, and a second foot-cuff 227. During operation, the first cylinder 222 pushes the cylinder push plate 223 to move, which, through the foot-cuff connecting rod 224, drives the first and second foot-cuffs 225, 227 to rotate and close around the fixed shaft 226, thereby clamping the limbs. The first cylinder 222 and the fixed shaft 226 are connected to the cylinder base plate 221, and the piston end face of the first cylinder 222 is connected to the cylinder push plate 223. The first and second foot-cuffs 225, 227 both rotate around the fixed shaft 226. The first and second foot-cuffs 225, 227 are each connected to the cylinder push plate 223 via two foot-cuff connecting rods 224. During operation, the first cylinder 222 pushes the cylinder push plate 223 to move, and drives the first leg cover 225 and the second leg cover 227 to rotate and close around the fixed axis 226 through the leg cover connecting rod 224, thereby achieving clamping and fixing of the limbs.

[0034] Overall operation process: Loading station: The sheep enters the first station, and the movable fence 25 is closed; the limb capture and lifting device 5 moves to the side of the sheep, captures and lifts the limbs through the gripping plate 56 and the foot cover fixing device 22, and puts them into the foot cover fixing device 22 of the limb turning device 23 and clamps them; the lifting and turning device 24 lifts the sheep to a suitable height.

[0035] Shearing station: The station switching platform 1 rotates counterclockwise to transfer the sheep to the shearing station; the automatic sheep shearing robot arm module 4 moves along the I-beam walking device 3, and the six-axis robot arm drives the shearing machine 47 to trim the sheep's back, sides and other parts; during this period, the limb turning device 23 drives the limbs to turn, and the lifting and turning device 24 drives the sheep's body to turn to ensure that no part of the body is missed.

[0036] Repair station: The workstation is switched to the repair station to manually check and process the missed parts (optional process).

[0037] Unloading station: The station switches to the last station, the foot cover fixing device 22 is loosened, the movable fence 25 is opened, and the sheep leaves the station; the device is reset and ready for the operation of the next sheep.

[0038] In summary, the present invention can realize automatic positioning, fixing, posture adjustment and shearing operations of sheep, thereby improving shearing efficiency, ensuring shearing quality and reducing labor intensity.

Claims

1. A sheep shearing robot, characterized in that: The invention comprises a workstation switching platform (1), a limb fixing and turning device (2), an I-beam walking device (3), an automatic sheep shearing robot arm module (4), and a limb capturing and lifting device (5); the workstation switching platform (1) is divided into four workstations in a circle, and an internal motor drives the workstations to be switched counterclockwise, and the limb fixing and turning device (2) is arranged on each of the four workstations; the I-beam walking device (3) is arranged above the workstation switching platform (1) and is used for the automatic sheep shearing robot arm module (4) and the limb capturing and lifting device (5) to move; the automatic sheep shearing robot arm module (4) and the limb capturing and lifting device (5) are arranged on the I-beam walking device (3); the automatic sheep shearing robot arm module (4) is used to perform a sheep shearing operation; the limb capturing and lifting device (5) is used to capture the limbs of a sheep and lift them to a fixed position.

2. The sheep shearing robot according to claim 1, characterized in that: The workstation switching platform (1) comprises a workstation switching base plate (11), an I-beam column (12), an I-beam crossbeam (13), a circumferential workstation (16) and a workstation switching device (17); four I-beam columns (12) are arranged around the workstation switching base plate (11), and an I-beam crossbeam (13) is arranged on the I-beam columns (12); the I-beam walking device (3) is arranged on the I-beam crossbeam (13); the workstation switching device (17) is arranged at the center of the workstation switching base plate (11), and a circumferential workstation (16) is arranged above the workstation switching device (17).

3. The sheep shearing robot according to claim 2, characterized in that: The circular workstation (16) comprises a bearing base plate (161), a fixed plate (162), a movable plate (163), a first linear rail (164), a linear slider fixed plate (165), an electric push rod movable bracket (166), an electric push rod (167) and an electric push rod fixed bracket (168); fixed plates (162) are respectively provided on both sides of the bearing base plate (161), and first linear rails (164) are provided on the other two sides of the bearing base plate (161); the movable plate (163) is moved and arranged on the first linear rails (164) via the linear slider fixed plate (165); an electric push rod movable bracket (166) is provided at the bottom of the movable plate (163); the electric push rod (167) is fixed to the bearing base plate (161) via the electric push rod fixed bracket (168) and the other end is connected to the electric push rod movable bracket (166).

4. The sheep shearing robot according to claim 2, characterized in that: The workstation switching device (17) includes a first servo motor (171), a motor base (172), a pinion (173), a flange center plate (174), a slewing bearing (175), a base flange (176) and a reducer (177); the first servo motor (171) is connected to the workstation switching base plate (11) through the motor base (172); the pinion (173) is arranged above the reducer (177) and is powered by the first servo motor (171); the pinion (173) is engaged with the slewing bearing (175) arranged on the base flange (176); a flange center plate (174) is arranged above the base flange (176), and the flange center plate (174) is fixed to the bearing base plate (161).

5. The sheep shearing robot according to claim 1, characterized in that: The limb fixing and turning device (2) comprises a base plate (21), a foot cover fixing device (22), a limb turning device (23), a lifting and turning device (24) and a movable fence (25); the movable fence (25) is fixed on the base plate (21), the limb turning device (23) is arranged outside the movable fence (25), and four foot cover fixing devices (22) are symmetrically mounted on the limb turning device (23); the lifting and turning device (24) is arranged at the center of the movable fence (25) on the base plate (21); the two ends of the movable fence (25) are connected by a hinge; The limb flipping devices (23) are symmetrically provided with two of them, one of which is fixed, and the other is movable via a first ball screw module (2311); the limb flipping devices (23) comprise a column (231), a synchronous pulley (232), a driving shaft (233), a synchronous belt limit block (234), a synchronous belt (235), a driven shaft (236), a foot cover fixing device base plate (237), a large bevel gear (238), a small bevel gear (239) and a second servo motor (2310); the middle and top of the column (231) are respectively provided with driving The second servo motor (2310) is fixed on the column (231), the second servo motor (2310) is connected to the small bevel gear (239), the small bevel gear (239) and the large bevel gear (238) on the driving shaft (233) form a bevel gear set, the other end of the driving shaft (233) is connected to the synchronous pulley (232), the synchronous pulley (232) drives the driven shaft (236) through the synchronous belt (235), and the other end of the driven shaft (236) is fixed to the base plate (237) of the foot cover fixing device; the foot cover fixing device (22) is arranged on both sides of the base plate (237) of the foot cover fixing device; The lifting and turning device (24) comprises a fixed base plate (241), a bottom fixed shaft (242), a scissor fork inner rod (243), a thrust bearing (244), a turning support plate (245), a bearing seat (246), a driven roller (247), a turning belt (248), a worm gear reduction motor (249), a motor support plate (2410), an active roller (2411), a bottom movable shaft (2412), a trapezoidal lead screw (2413), a connecting rod (2414), a scissor fork outer rod (2415), a planetary reducer (2416) and a third servo motor (2417); a bottom fixed shaft (242) and a bottom movable shaft (2412) are provided on the fixed base plate (241), two ends of the bottom fixed shaft (242) are connected to the scissor fork inner rod (243), two ends of the bottom movable shaft (2412) are connected to the scissor fork outer rod (2415), and the scissor fork inner rod ( 243) is connected to the other end of the scissor fork outer rod (2415) through a thrust bearing (244), and the middle part is connected by a connecting rod (2414); a third servo motor (2417) is set on the side of the fixed base plate (241), and the third servo motor (2417) is fixed to the trapezoidal screw rod (2413) through a planetary reducer (2416), and the trapezoidal screw rod (2413) is matched with the central threaded hole of the bottom movable shaft (2412) through the central through hole of the bottom fixed shaft; the flip support plate (245) is equipped with a driven roller (247) and an active roller (2411) through a bearing seat (246), and the driven roller (247) and the active roller (2411) are matched by a flip belt (248); the worm gear reduction motor (249) is fixed to the side of the flip support plate (245) by a motor bracket plate (2410) and is connected to the active roller (2411).

6. The sheep shearing robot according to claim 2, characterized in that: The I-beam walking device (3) is provided with a plurality of I-beam walking devices, which are respectively located on the I-beam cross beams (13) on both sides; the I-beam walking device (3) comprises a walking frame (31), a nut (32), a channel steel wheel (33), a double bearing flange (34), a gear shaft (35), a gear (36), a coupling (37), a planetary reducer (38) and a walking motor (39); the upper half of both sides of the walking frame (31) is respectively equipped with four channel steel wheels (33) with bearings through nuts (32), and the channel steel wheels (33) cooperate with the I-beam cross beam (13); the walking frame (3 1) A double-bearing flange (34) is installed on one side of the lower half, and a travel motor (39) equipped with a planetary reducer (38) is installed on the other side; the gear (36) is installed on the gear shaft (35) through a key and a keyway, one end of the gear shaft (35) is fixed to the double-bearing flange (34), and the other end is connected to the planetary reducer (38) through a coupling (37); a long rack (14) and a short rack (15) are respectively installed at the bottom of the I-beam crossbeam (13) on both sides; the gear (36) in the I-beam travel device (3) is meshed with the long rack (14) or the short rack (15) on the corresponding side.

7. The sheep shearing robot according to claim 1, characterized in that: The automatic wool shearing robot arm module (4) comprises a walking beam (42), a rack (43), a screw module fixing seat (44), a second ball screw module (45), a six-axis collaborative robot arm (46) and a shaving machine (47); the two ends of the walking beam (42) are respectively mounted on an I-beam walking device (3), the bottom end of the walking beam (42) is mounted with a rack (43), an I-beam walking device (3) matched with the rack (43) is provided on the walking beam (42), the side of the I-beam walking device (3) is fixed with the second ball screw module (45) through the screw module fixing seat (44), a six-axis collaborative robot arm (46) is arranged on the platform of the second ball screw module (45), and the shaving machine (47) is mounted on the end of the six-axis collaborative robot arm (46).

8. The sheep shearing robot according to claim 1, characterized in that: The limb capture and lifting device (5) comprises a servo electric push rod (51), a gripper swing base (52), a second linear track (53), a linear rack (54), a rotation distance change base plate (55), a gripper plate (56), a foot cover fixing device (22) and a driving motor (58); the servo electric push rod (51) is fixed on the inclined surface of the gripper swing base (52), the rotation distance change base plate (55) is connected to the gripper swing base (52) through a rotating shaft, and is driven by the servo electric push rod (51) to adjust the angle of the rotation distance change base plate (55); the rotation distance change base plate (55) is provided with two gripper plates (56), the gripper plates (5 6) is provided with a foot cover fixing device (22) at the end thereof, and a protective cover (57) is provided below the foot cover fixing device (22); a linear rack (54) is fixed on the back of the gripping plate (56), a driving motor (58) is provided on the back of the rotating pitch changing base plate (55), and an output end of the driving motor (58) is connected to a driving gear (59), and the driving gear (59) is engaged with the linear racks (54) on the back of the two gripping plates (56); the back of the gripping plate (56) is also slidably provided on the second linear rail (53) through a slider; the gripping swing base (52) is connected to the I-beam walking device (3) via a switching mechanism.

9. The sheep shearing robot according to claim 5 or 8, characterized in that: The foot sleeve fixing device (22) comprises a cylinder base plate (221), a first cylinder (222), a cylinder push plate (223), a foot sleeve connecting rod (224), a first foot sleeve (225), a fixed shaft (226) and a second foot sleeve (227); the first cylinder (222) and the fixed shaft (226) are connected to the cylinder base plate (221), and the piston end face of the first cylinder (222) is connected to the cylinder push plate (223); the first foot sleeve (225) and the second foot sleeve (227) are simultaneously rotated by the fixed shaft (226), and the first foot sleeve (225), the second foot sleeve (227) and the cylinder push plate (223) are respectively connected by two foot sleeve connecting rods (224).

10. The sheep shearing robot according to claim 8, characterized in that: The switching mechanism comprises a first box body (510) arranged at the lower end of the I-beam walking device (3); the interior of the first box body (510) is rotatably connected to a second box body (513) via a first synchronous belt module (512); the interior of the second box body (513) is rotatably connected to the gripper swing base (52) via a second synchronous belt module (514).

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